#include <run.hpp>


 



int main(int argc, char **argv){

    ros::init(argc, argv, "run");
    ros::NodeHandle n("~");
    std::string local;
    if(!n.getParam("config_path", local)){
        ROS_ERROR_STREAM("not input yaml !");
        return 0;
    }

    std::cout << "local:" << local << std::endl;
    // 订阅节点
    // ReadParameter* param = new ReadParameter(local);
    std::shared_ptr<ReadParameter> param(new ReadParameter(local));
    run runner(n, param);

    runner.runBuildMap();// 进行构建地图
    ros::spin();

    return 0;
}
